@John Hallberg, Thanks for posting in Q&A.
From your description, I know you want to avoid "Let´s connect you to a network" when using Autopilot Self-deployment.
Based as I know, for user-driven and self-deploying model, Autopilot profile can only be downloaded, and the registration process can be completed after the device is connected to the Internet. In your situation, it may be because you are using Wi-Fi, which requires the user to manually choose to connect to the wireless network. It is recommended that you consider using an Ethernet network to solve this problem.
If you cannot ensure that each device can use an Ethernet network, you can consider creating a Wi-Fi configuration profile to ensure that each device automatically connects to Wi-Fi, so that the user does not need to click to connect to the network.
https://www.prajwaldesai.com/create-a-wi-fi-profile-in-intune/
Non-official, just for reference.
Hope above information can help you.
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